aima.core.environment.vacuum.TableDrivenVacuumAgent Maven / Gradle / Ivy
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AIMA-Java Core Algorithms from the book Artificial Intelligence a Modern Approach 3rd Ed.
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package aima.core.environment.vacuum;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import aima.core.agent.Action;
import aima.core.agent.Percept;
import aima.core.agent.impl.AbstractAgent;
import aima.core.agent.impl.aprog.TableDrivenAgentProgram;
/**
* Artificial Intelligence A Modern Approach (3rd Edition): Figure 2.3, page 36.
*
* Figure 2.3 Partial tabulation of a simple agent function for the
* vacuum-cleaner world shown in Figure 2.2.
*
* @author Ciaran O'Reilly
*
*/
public class TableDrivenVacuumAgent extends AbstractAgent {
public TableDrivenVacuumAgent() {
super(new TableDrivenAgentProgram(getPerceptSequenceActions()));
}
//
// PRIVATE METHODS
//
private static Map, Action> getPerceptSequenceActions() {
Map, Action> perceptSequenceActions = new HashMap, Action>();
// NOTE: While this particular table could be setup simply
// using a few loops, the intent is to show how quickly a table
// based approach grows and becomes unusable.
List ps;
//
// Level 1: 4 states
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_RIGHT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_LEFT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
//
// Level 2: 4x4 states
// 1
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_RIGHT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_LEFT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
// 2
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_RIGHT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_LEFT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
// 3
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_RIGHT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_LEFT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
// 4
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_RIGHT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_LEFT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
//
// Level 3: 4x4x4 states
// 1-1
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_RIGHT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_LEFT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
// 1-2
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_RIGHT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_LEFT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
// 1-3
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_RIGHT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_LEFT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
// 1-4
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_RIGHT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_LEFT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
// 2-1
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_RIGHT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_LEFT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
// 2-2
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_RIGHT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_LEFT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
// 2-3
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_RIGHT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_LEFT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
// 2-4
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_RIGHT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_LEFT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
// 3-1
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_RIGHT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_LEFT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
// 3-2
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_RIGHT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_LEFT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
// 3-3
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_RIGHT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_LEFT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
// 3-4
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_RIGHT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_LEFT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
// 4-1
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_RIGHT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_LEFT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
// 4-2
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_RIGHT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_LEFT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
// 4-3
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_RIGHT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_LEFT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
// 4-4
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_RIGHT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_A,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Clean));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_MOVE_LEFT);
ps = createPerceptSequence(new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty), new LocalVacuumEnvironmentPercept(
VacuumEnvironment.LOCATION_B,
VacuumEnvironment.LocationState.Dirty));
perceptSequenceActions.put(ps, VacuumEnvironment.ACTION_SUCK);
//
// Level 4: 4x4x4x4 states
// ...
return perceptSequenceActions;
}
private static List createPerceptSequence(Percept... percepts) {
List perceptSequence = new ArrayList();
for (Percept p : percepts) {
perceptSequence.add(p);
}
return perceptSequence;
}
}